A communication configuration system for a fleet of autonomous vehicles (AVs) stores a network resource map for a given region that indicates locations of base stations for connecting the fleet of AVs with a backend system. The communication configuration system receives localization information from a respective AV of the fleet which indicates location and orientation of the respective AV. Using the network resource map, the system selects a proximate base station relative to the respective AV transmits array configuration commands to the respective AV to cause the respective AV to direct an on-board communications array to transmit and receive data with the proximate base station.